You should probably start with the Azores.com which has a lot of useful information including car rental information and ferry information.
The issue with most of these islands is that they are small. I’ve been to Terceira and was able to drive around the perimeter of the entire island in less then an hour but there are places that you would want to visit but has no organized bus tours to get to.
As far as car rental is concerned I would rent on each of the Islands separately since the ferry that can carry a car from one island to another only runs once a week. The passenger ferry only run by Transmacor has daily service between the islands making choice a simple one.
Credit:stackoverflow.com‘
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